Title :
Dynamic modeling and kinematic simulation of Stäubli© TX40 robot using MATLAB/ADAMS co-simulation
Author :
Cheraghpour, F. ; Vaezi, Masoud ; Jazeh, H. E. Shoori ; Moosavian, S.A.A.
Author_Institution :
Pardis Branch, Dept. of Mech. Eng., Islamic Azad Univ., Pardis, Iran
Abstract :
This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MATLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.
Keywords :
industrial robots; mathematics computing; robot dynamics; robot kinematics; MATLAB-ADAMS co-simulation; Staubli TX40 robot; dynamic modeling software; industrial robot; kinematic simulation; Computer languages; Equations; Genetics; Joints; Manipulators; Mathematical model; Dynamic Modeling; Genetic Algorithm; Inverse and Forward Kinematics; Robot; Simulation;
Conference_Titel :
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-61284-982-9
DOI :
10.1109/ICMECH.2011.5971316
